System for identifying and controlling unmanned aerial vehicles

ABSTRACT

A beacon for attachment to an unmanned aerial vehicle that provides information needed to identify the owner of a particular unmanned vehicle. The beacon may also include a remote communications module configured to participate on wireless or optical communications networks and a beacon control system configured to issue commands compatible with the unmanned aerial vehicle. The beacon may further a beacon control system configured to translate multiple types of commands from different controls systems into commands compatible with the unmanned aerial vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority benefit of U.S. Provisional PatentApplication No. 62/301,858 filed on Mar. 1, 2016 and entitled “Systemfor Identifying and Controlling Unmanned Aerial Vehicles,” and U.S.application Ser. No. 15/206,671 filed Jul. 11, 2016 of the same title,both incorporated herein by reference.

FIELD

This application is directed to a system and method for remotelyidentifying and controlling a vehicle, and in particular, a system andmethod for remotely identifying and controlling an unmanned aerialvehicle.

BACKGROUND

Unmanned vehicles are being increasingly deployed for a variety of tasksincluding recreational activities such as recreational aerial filming orphotography, monitoring of crops or wildlife, remote inspection ofindustrial equipment in areas where it may be dangerous or difficult toplace personnel, law enforcement and search and rescue operations,delivery of supplies to remote or inaccessible locations, and militaryapplications. Unmanned vehicles that are airborne are typicallydescribed as drones or unmanned aerial vehicles (UAVs). UAVs generallycarry cameras, sensors, communications equipment, or other usefulpayloads, and certain larger UAVs are capable of carrying these payloadsfor an extended period of time. Other UAVs, such as those commonlyavailable to individuals, have more limited capabilities and can onlycarry smaller payloads for a shorter period of time.

One common technical aspect shared by unmanned vehicles including UAVsis that the vehicles do not include human operators in the vehicleitself, so some form of remote control or self-piloting by the UAVitself is necessary. Accordingly, UAVs may either be remotely piloted oroptionally piloted unmanned systems. When optionally piloted, known UAVsmay fly autonomously based on pre-programmed flight plans, based on aset of predetermined rules, or a combination of both, for example. Evenwhen remotely piloted, known UAVs may react autonomously in varyingdegrees in response to threats or other hazards. Such UAVs may employlimited autonomous modes that include the ability to self-level inflight, to loiter over a particular location, to execute take-offs orlandings, to automatically travel to and return from a particularlocation, and to automatically land if communications are lost for anextended period of time. Some UAVs may include more autonomous modesthat include the ability to execute complete flight plans by followingwaypoints, to react to obstacles while executing a flight plan or whilebeing remotely piloted, and to perform certain portions of a flight planwith no oversight. Other known UAVs lack this capability and must beremotely piloted at all times. UAVs that are be typically purchased byconsumers tend to require remote piloting at all times. There thereforeexists a technical problem where at least some UAVs require at leastremote control by a human operator.

Additionally, there exist growing concerns related to the increasing useof UAVs, governments are interested in regulating the use of UAVs. Inparticular, the integration of UAVs into a nation's regulated airspacethat is used by manned vehicles such as conventional airplanes presentsdifficulties. Unlike the pilots for conventional airplanes, UAVoperators need not obtain certifications or licenses prior to theoperation of their devices. As such, many UAV operators may not be awareof the rules and regulations associated with portions of the airspace.Some jurisdictions such as the United States have imposed flightrestrictions that ban the operation of UAVs in certain areas of theUnited States such as the airspace surrounding airports and theWashington, D.C. area. Even with this growing interest in regulation,however, no uniform technique for identifying the owner of a particularUAV exists should a violation occur, and no uniform technique ismandated by Federal Aviation Administration (FAA) regulations. Inaddition, the relatively small size and radio signature of a UAV makesit difficult to detect their presence in restricted airspace,particularly when the restricted airspace is monitored with equipmentdesigned to detect conventional aircraft of a much larger size. Atechnical problem therefore exists where known UAVs are difficult toimpose flight restrictions because there is no uniform technique foridentifying the owner of a particular UAV, and UAVs are generallydifficult to detect due to their relatively small size and radarsignature.

Another regulatory reaction to the increasing use of UAVs is theenactment of a registration requirement for UAVs weighing more than halfa pound but less than fifty-five pounds. Operations of these UAVs arerequired to obtain a Certificate of Authorization from the FAA and tomark their UAVs. Although the FAA provides a registration number withthe completed Certificate of Authorization and ties the specific ownerwith the specific UAV, the FAA does not dictate how the registrationnumber is to be placed onto the UAV. Instead, the FAA suggests placingthe registration number on the UAV by using a permanent marker, a label,or by engraving the number onto the UAV. The FAA regulation also allowsfor the registration number to be placed in an accessible batterycompartment. This multitude of possible locations and methods formarking a UAV make it difficult to quickly determine the partyresponsible for a UAV should an incident occur. This is particularlyimportant in areas where UAV usage is restricted and the owner of thetrespassing UAV must be ascertained in a timely manner. In addition, thevarious techniques suggested by the FAA require the UAV to be taken outof operation and landed before the registration number associated withthe UAV may be ascertained. This therefore precludes the possibility ofidentifying the UAV operator while the UAV is in flight. There istherefore a technical problem where a particular UAV cannot beassociated with its registration information while the UAV is inoperation.

As discussed, known UAVs also depend on a remote human operator toprovide at least some commands through wireless communicationstechnologies. In addition, any imagery or other sensory data obtained bythe UAV is typically desired by the human operators on a real-time ornear real-time basis. Thus, two-way communication between the UAV andthe human operator is desirable. Known UAVs typically available toconsumers include the ability to use a Wi-Fi network to interface withthe operator's smartphone, tablet, or other computing device. Wi-Finetworks are, however, limited in range and are susceptible tointerference. More advanced UAVs employed by the military or lawenforcement officials may use satellite links or other more robust andlong-ranged wireless technologies to remain in contact with theoperators over greater distances. These long-range wireless technologiesare ordinarily well beyond the means of individuals and smallercorporations which limits the utility of UAVs in certain applications.There is therefore a technical problem where no uniform and reliablewireless communications between operators and various UAVs exists.

Another concern with UAVs is the multitude of control technologies beingemployed for different UAVs. Although certain consumer UAVs may beoperated through smartphones, tablets, or other portable computingdevices, more advanced UAVs may employ dedicated control systemsspecific to that particular model of UAV, or in some instances, acertain version of the particular model of UAV. The use of suchdedicated control systems for UAVs that are tied to specific modelsand/or versions of UAVs therefore slows the adoption and deployment ofadvanced UAVs and imposes additional training requirements foroperators. In addition, even though consumer UAVs may use portablecomputing devices as control systems, each UAV may utilize a uniquecontrol scheme that impedes the adoption of UAVs by consumers. Theadoption of UAVs may therefore be facilitated by the utilization of moreuniform control scheme so that a single control system may be employedfor multiple models and/or versions of UAVs, and so that operators neednot retrain or relearn a new control scheme for each UAV they operate.There therefore also exists technical problem where operators must learneach particular type of UAVs' specific control scheme and where each UAVmay require a different control system.

These and other technical problems in known UAVs are addressed by theVigilent Positioning System.

SUMMARY

The beacon, or Vigilent Positioning System described here, is attachedto an unmanned aerial vehicle, the unmanned aerial vehicle including acontrol system, a sensory system, and a communications module. Thebeacon includes an attachment mechanism configured to securely andremovably attach the apparatus to the unmanned aerial vehicle.

The beacon includes first indicia identifying an owner or responsibleparty, and second indicia identifying a particular unmanned aerialvehicle. At least a portion of the first and second indicia togetherform a unique identifier associating the owner or responsible party withthe unmanned aerial vehicle. The unique identifier is readable by adetector spaced away from the unmanned aerial vehicle. In addition,information provided by the sensory system of the unmanned aerialvehicle may be encoded with the unique identifier formed from portionsof the first and second indicia. The unique identifier of the beacon maybe readable while the unmanned aerial vehicle is in motion relative tothe detector, and the attachment mechanism of the beacon may only beremovable by an authorized individual.

The beacon described here may also include an unmanned aerial vehiclecommunications module configured to provide commands and transmit andreceive information to and from the unmanned aerial vehicle through theunmanned aerial vehicle communications system, a remote communicationsmodule configured to participate on at least one wireless communicationssystem as well as transmit and receive information across the at leastone wireless communications system to and from a remote operator, and abeacon control system configured to receive information and commandsfrom the remote communications module and to transform the informationand commands for compatibility with the unmanned aerial vehicle. Thebeacon control system may also transmit the transformed information andcommands to the unmanned aerial vehicle through the unmanned aerialvehicle communications module, receive information from the unmannedaerial vehicle through the unmanned aerial vehicle communications moduleand to transform the information for transmission over the at least onewireless communications system, and transmit the transformed informationto the remote operator. The remote communications module of the beaconmay switch between wireless communications systems during a flight planbased on a set of predetermined criteria. The beacon control system maytransform commands received by the remote communications module bymapping at least one of the received commands to at least one commandcompatible with the unmanned aerial vehicle. The beacon control systemmay also determine an appropriate mapping and utilize the determinedappropriate mapping so that compatible commands are transmitted to theunmanned aerial vehicle control system.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts certain aspects of known UAVs and the remote operatorcontrol system.

FIG. 2 depicts a known UAV with one embodiment of the beacon attached tothe external housing or body of the UAV.

FIG. 3 depicts one embodiment of the components of the beacon.

FIG. 4 depicts another embodiment of the components of the beacon.

FIG. 5 depicts yet another embodiment of the components of the beacon.

FIG. 6 depicts a still further embodiment of the components of thebeacon.

DETAILED DESCRIPTION

FIG. 1 depicts a block diagram showing certain aspects of known UAVs 10and of known remote operator control systems 20. Known UAVs 10 comprisea sensory system 11 and a control system 12. The sensory system 11 andthe control system 12 may communicate with each other across a data busand/or directly with a communications system 15 also included in the UAV10. The communications system 15 of the UAV 10 transmits informationfrom the sensory system 11, control system 12, and other components ofthe UAV to the remote operator control system 20. The information fromthe UAV 10 is transmitted over a dedicated wireless communications linkto the communications module 25 of the remote operator control system20. In some known UAVs 10, the information is instead transmitted over ashared wireless communications link to the communications module 25 ofthe remote operator control system 20. At least one human operator usesthe remote operator control system 20 to process the information beingprovided by the UAV 10 through the wireless communication link. When thehuman operator manipulates the remote operator control system 20, acontrol signal is generated, and the signal is transmitted by thecommunications module 25 to the UAV 10. The communications system 15 ofthe UAV 10 receives the control signal from the remote operator controlsystem 20 and the UAV 10 responds to the human operator's commands.Accordingly, the wireless communications link between the UAV 10 and theremote operator control system 20 is used to relay information andcontrol signals to and from the UAV 10 and the remote operator controlsystem 20.

As described above, however, known UAVs do not include identificationinformation in a manner that facilitates a quick determination as to whomay be the registered owner of a particular UAV. This is particularly aconcern in controlled airspace surrounding airports, secure areas likethe White House and Camp David, military bases, and areas with temporaryflight restrictions such as Disney World or stadiums and arenas wheremajor sports events are being held. In these areas, agencies responsiblefor security must be able to first detect the presence of UAVs in thecontrolled airspace and then determine the registered owner of thedetected UAV to determine if the presence of the UAV is authorized. Sucha capability would allow the agencies to separate UAVs that are helping,for example, monitor the crowds at a sporting event from UAVs that arebeing operated by unauthorized individuals.

Accordingly, one embodiment of the beacon 100 is affixed to the externalhousing or body of a UAV 10 as shown in FIG. 2. The beacon 100 issecured to the external housing or body of the UAV 10 so that the ownerof the UAV 10 may be quickly identified upon retrieval of the UAV 10,and so that remote interrogation of the beacon 100 may be possible. Thebeacon 100 is sized and secured so that normal operation of the UAV 10is not hampered in any manner. In one embodiment of the beacon 100, anexternal housing 110 encloses components necessary for the functioningof the beacon 100. The beacon 100 also includes an attachment mechanism130 that provides at least a physical interface for attaching the beacon100 to the external housing or body of the UAV 10. Further, each of thedescribed embodiments of the beacon are sufficiently small andlightweight so that UAV 10 performance is not adversely affected.Although certain components are depicted in the drawings, it is to beunderstood that an embodiment of the beacon need not include all of theillustrated components, and that the beacon may include additionalcomponents that are not depicted.

First Embodiment of the Vigilent Positioning System

In one embodiment of the beacon 100, indicia 120 with information isincluded with the beacon 100. The indicia 120 may include markingsembody the information required by regulatory requirements or mayinclude markings that encode the information required by regulatoryrequirements. Examples of the information needed for compliance withregulatory requirements include the owner's unique identification numberissued in compliance with a Certificate of Aircraft Registration/Proofof Ownership issued by the FAA through registration of the vehicle intothe Small Unmanned Aircraft System registry. When the indicia 120embodies the information, the information is human or machine readablewithout requiring any decoding. For example, an embodiment with indiciaembodying the information may have an identification number engravedinto the exterior of the beacon 100. When the indicia 120 insteadincludes encoded information, the information is preferably encoded intothe indicia 120 in a commonly machine-readable manner. Embodimentsencoding information in this manner may rely on a quick response (QR)code, a bar code, a radio-frequency identification (RFID) tag, amagnetic or optical marker, or another easily accessible and readableformat. In certain embodiments, the indicia 120 may exhibit certaincharacteristics such as radio-opacity to facilitate reading of theencoded information. In some embodiments, the information of the indicia120 may be both embodied and encoded in a manner allowing both a humanand a machine to read the same indicia 120 and obtain the sameinformation. For example, one indicia 120 may incorporate ahuman-readable version of the information with a machine-readableversion of the information.

Embodiments utilizing machine-readable indicia may tailor the indicia120 to be readable at a distance. For example, one embodiment of thebeacon 100 may include indicia 120 that react to an interrogation signalin a manner which may be detected by an active reader spaced away fromthe external housing 110 of the beacon 100. When the indicia 120 areconfigured to respond to external stimuli, the response from the indicia120 is proportionate to the triggering interrogation signal. Forexample, the response to the interrogation signal received from anactive reader spaced within 10 feet of the beacon 100 will be differentthan the response to the interrogation signal received from a morepowerful transmitter located further away at an airport. This ability toreact to an active reader some distance from the beacon 100 isparticularly useful in situations where precisely locating the beacon100 for reading by a reader is not desirable, or where remoteinterrogation of the beacon 100 is desirable. For example, an embodimentof the beacon 100 may be placed within a particular UAV 10 for aestheticreasons. An active reader can then transmit the interrogation signal andthe beacon 100 will transmit a response without necessitating that thebeacon 100 be precisely located on the UAV 10. Additionally, an activereader may be placed in a fixed location where multiple UAVs 10 withbeacons 100 pass so that information associated with each UAV 10 may berecorded without interrupting the flight of each UAV 10. Such a fixedreader may also be placed in a fixed location so that any UAVs 10entering the area with a beacon 100 may be quickly detected andidentified.

In certain embodiments of the beacon 100, multiple forms of readableindicia may be included to facilitate rapid usage of the information.For example, the beacon 100 may include first indicia 121 that encodesin an optical form the information required by regulation, and secondindicia 122 that encodes in a computer-readable form the informationrequired by regulatory requirements. In other embodiments, the beacon100 may include first and second indicia 121, 122 that have differentinformation. For example, the first indicia 121 may only include theinformation required by regulation, and the second indicia 122 may onlyinclude additional information such as the intended flight plan for theUAV or the intended purposes of the UAV. In some embodiments, the firstand second indicia 121, 122 may need to be considered together to obtainthe contained information. It should be noted that although embodimentsof the beacon 100 including two indicia 121, 122 are described, anynumber of components may be included as part of the indicia 120 for thebeacon 100 are contemplated.

In at least one embodiment of the beacon 100 including the indicia 120,the beacon 100 is produced on a large scale to facilitate wide adoptionand to help reduce costs. In such an embodiment, the indicia 120 may beprinted or otherwise placed on an external housing 110 of the beacon 100by the owner after registration is completed. The indicia 120 may be ofany form, including optical or magnetic, where the beacons 100 may beproduced on a large scale in a cost efficient manner.

In certain embodiments, once information is encoded in the indicia 120,including first or second indicia 121, 122, the information cannot beeasily changed without detectible modifications to the beacon 100. Thistype of indicia 120 is particularly useful when it is desirable toassociate certain information with the particular owner or the UAV 10that was used to collect the information, and when it is desirable toensure that the information is not tampered with. For example, if theUAV 10 is deployed by law enforcement, it may be desirable to preparechronological documentation regarding the seizure, custody, control,transfer, analysis, and disposition of evidence gathered by the sensingdevices available to the UAV 10. Such chronological documentationestablishes a chain of custody to provide assurances regarding theauthenticity of data collected by sensing devices.

In certain embodiments, the indicia 120 of the beacon 100 may beinitially set upon manufacture or installation, but may also besubsequently modified to incorporate additional and/or changedinformation. The ability to modify the indicia 120 may be used tomaintain an ongoing record of the various owners of the UAV 10, thevarious modifications made to the UAV 10, or other types of information.In other embodiments where tampering is undesirable, such as when theindicia 120 are used to associate information with the particular owneror the UAV 10 used to collect the information, an indication that theindicia 120 was modified will be included in the beacon 100.

FIG. 4 depicts an embodiment of the beacon 200 that helps provide suchassurances regarding the authenticity of data collected by a UAV 10.This embodiment of the beacon 200 includes a beacon control system 210and a UAV communications module 220. The beacon control system 210includes circuitry such as a processor configured to include the logicalsteps needed to execute certain functions of the beacon 200, and memoryconfigured to store any programs or data needed by the processor toperform the functions of the beacon 200. In addition, the processor isconfigured to communicate with components of the beacon 200 asnecessary. In certain embodiments of the beacon 200, the beacon controlsystem 210 utilizes the information contained in the indicia 120. Whenthe indicia 120 includes first and second indicia 121, 122, for example,the beacon control system 210 reads the information encoded by the firstand second indicia 121, 122 so that the needed information is availableto the processor of the beacon control system 210. In other embodimentswhen various forms of indicia 120 are available, the processor of thebeacon control system 210 will retrieve the needed information from theappropriate subset of indicia 120 or the entirety of the indicia 120 sothat the desired functions may be performed. The beacon control 210 canalso communicate with the UAV 10 communications module 220 whichinterfaces with the sensory and/or control systems of a UAV 10 asnecessary.

For example, a UAV 10 may be deployed with a particular sensory packagefor surveillance for law enforcement purposes. As the sensory package isemployed, the UAV 10 may provide information such as its currentlocation or the current time so that the sensory package may integratethis data into the information being stored or transmitted for laterretrieval and analysis. In such a situation, the UAV 10 may alsoretrieve information encoded in the indicia 120 through the UAVcommunication module 220 and the beacon control system 210 that may helpuniquely identify the owner and/or the UAV 10 employed to collect theinformation to be analyzed. This information retrieved from the indicia120 may be encoded into the information being stored or transmitted forlater retrieval and analysis using known techniques such as watermarkingso that the information retrieved from the indicia 120 helps provideassurances regarding the authenticity of the data collected by the UAV10. Thus, in addition to the contemporaneous location and timeinformation that is integrated into the data collected by the sensorypackage, the information retrieved from the indicia 120 provides anotherform of assurance that the information recorded by the sensory packageof the UAV 10 is authentic. This data collected by the sensory packagemay be stored on the UAV 10 itself for later retrieval, may betransmitted to the remote operator, or may be both stored on the UAV 10and transmitted to the remote operator. When information from theindicia 120 is employed in this manner, it is preferable that theinformation encoded in the indicia 120 be resistant to modification sothat, at a later time, the particular UAV 10 that was utilized tocollect the information may be identified with certainty.

The UAV communications module 220 allows for at least one-waycommunication from the beacon 200 to UAV 10. In such embodiments, thebeacon control system 210 retrieves the information encoded in theindicia 120 and based on a request received by the UAV communicationsmodule 220, the beacon control system 210 transmits the encodedinformation to the UAV 10. In some embodiments, two-way communicationbetween the beacon 200 and the UAV 10 is desirable. In theseembodiments, the UAV communications module 220 transmits and receivesinformation to and from the beacon control system 210. The beaconcontrol system 210 performs the tasks necessary to satisfy any requestsfor information from the UAV 10, and also performs the tasks necessaryto process any information received from the UAV 10. In someembodiments, the attachment mechanism 130, in addition to providing aphysical interface for attaching the beacon 200 to the UAV 10, alsoprovides an interface for the beacon 200 to communicate with the UAV 10directly. For example, the attachment interface 130 may include a USBinterface so that the beacon 200 may directly communicate with aspectsof the UAV 10 and/or the sensory package being carried by the UAV 10.The attachment interface 130 may also provide electrical power for thebeacon Other types of electrical interfaces may be utilized tofacilitate communication between the beacon 200 and the UAV 10 and arenot specifically enumerated here.

In certain embodiments, the attachment mechanism 130 includes theability to lock and prevent unauthorized individuals from detaching thebeacon 100. Combination locking mechanisms or keyed locking mechanismsmay be employed for this purpose so that only individuals with thecorrect combination and/or key may detach the beacon 100 from theexternal housing or body of the UAV 10. Other techniques for securingthe beacon 100 to the UAV 10 in a manner that prevents unauthorizedremoval are not specifically described here.

As is clear from the above description, this embodiment of the beacon100 provides a technical solution to the technical problem of providinga uniform technique to identify the owner of a particular UAV. Moreparticularly, by including the indicia 120 in a manner that is easilyaccessible, identification of particular UAVs 10 operating in particularairspace is facilitated. The above described embodiment also provides atechnical solution to the problem of authenticating information that iscollected by a UAV 10 during operation by allowing for information suchas the information contained in the indicia 120 to be embedded into thecollected information. This described embodiment of the beacon 100 alsoprovides a uniform interface for communicating with the UAV 10 includingthe retrieval of information collected by the UAV 10 during operationand the transmission of commands from the operator using an interfacethat is not specific to the particular model or type of UAV 10 beingemployed.

Second Embodiment of the Vigilent Positioning System

The beacon may also operate as a universal component that allows a UAV10 to communicate with a remote operator using any available wirelesscommunications networks. These wireless communications networks mayoperate on any compatible frequency including frequencies from 500-980MHz. FIG. 5 depicts an embodiment of the beacon 300 that includesaspects described above for the first embodiment of the beacon such asthe beacon control system 210, indicia 120 including the first andsecond indicia 121, 122, a UAV communications module 220, and theattachment mechanism 130. The depicted beacon 300 also includes storage320 and a remote communications system 310. The storage 320 is availablefor the beacon control system 210 to utilize as needed to storeprograms, data, or other information necessary for the beacon controlsystem 210 to perform its tasks. The storage 320 may be such as a harddisk, an optical disc, solid state memory, or any othercomputer-readable media.

The beacon 300 also includes a remote communications module 310. Theremote communications module 310 facilitates communication between thebeacon 300 and an underlying wireless communications system such as aWi-Fi network or networks, and for further beyond-line-of-sightcommunications, a cellular phone network (e.g., GSM, GPRS, EV-DO, EDGE,UMTS, DECT, Digital AMPS, FDMA, SDMA, TDMA, CDMA, 3G, 4G, and the like),and a satellite network (e.g., Satellite L Band frequencies (OuterlinkNetwork), NANO Low Earth Orbiting Satellites), FirstNet, or anothersuitable wireless communications systems. Single or multiple protocolscan be embodied in a single beacon 300. In some embodiments, the remotecommunications module 310 may switch seamlessly between differentwireless communications systems as needed to ensure a reliableconnection with the remote operator. The remote communications module310 may employ a software-defined radio so that fewer separate hardwarecomponents for each wireless communication system must be included ineach beacon 300. In other embodiments, a combination of hardware andsoftware may comprise the components needed to interact with aparticular wireless communications system.

Through the use of the remote communications module 310, the beacon 300and the UAV 10 participate on the wireless communications networkwithout requiring additional configuration within the wirelesscommunication network. Instead, the beacon 300 performs all thenecessary negotiation of protocols, frequencies, or other parameters sothat the beacon 300 can transmit and receive information over thewireless communications network. When, for example, the beacon 300participates on a cellular network, all the functions a typical cellularphone on the cellular network would ordinarily perform are executed bythe beacon 300. In some embodiments, the beacon 300 may include hardwareso that a subscriber identity module (SIM) may be inserted. Similar tothe function provided by a SIM in a mobile phone, including a SIM withthe beacon 300 assigns a particular international mobile subscriberidentity (IMSI) and its related key. In some embodiments of the beacon300, hardware components similar to those used by mobile phones are usedto receive the SIM and to participate on the corresponding wirelesscommunications network. In other embodiments, the beacon 300 may includespecialized hardware components for participation on the correspondingwireless communication network.

One way the UAV 10 equipped with the beacon 300 participates on thewireless communications network is by transmitting and receivingcommands to and from a remote operator control system 20 so that the UAV10 may be remotely piloted. Another way the UAV 10 equipped with thebeacon 300 may participate on the wireless communications network is byuploading sensory data to the wireless communications network so thatother systems may receive and process the sensory data. As is clear fromthis description, the remote operator control system 20 need not be thesame as the monitoring system that receives and processes sensory data.

By including a SIM, an IMSI and key are associated with a beacon 300.These identifiers, along with other information such as the indicia 120,may be relied upon to uniquely identify a UAV 10 equipped with a beacon300. For example, while a beacon 300 with a SIM is in operation,wireless communications network providers can retrieve information basedon the IMSI and key such as the billing contact information. There is apossibility, however, that the beacon 300 is being utilized on a UAV 10owned by an individual with no relationship to the billing contactinformation. Accordingly, the beacon 300 includes the ability toretrieve information from the indicia 120 and transmit this informationacross the wireless communication network so that the purported owner ofthe UAV 10 may be identified. In at least some embodiments, a uniqueidentifier physically associated with the UAV 10 may be used instead ofor in addition to the indicia 120 so that a higher degree of confidenceas to the owners of the UAV 10 may be provided.

The beacon 300 also includes the beacon control system 210. The beaconcontrol system 210 may translate information and commands received bythe remote communications module 310 for compatibility with the UAV 10.For example, the commands and information being transmitted over thewireless communications system may be compressed or otherwise optimizedfor transmission. In such a circumstance, the beacon control system 210will transform the commands and information so that the UAV 10 onlyreceives the compatible transformed commands and information. The beaconcontrol system 210 may also transform any information from the UAV 10for transmission to the remote operator over the wireless communicationssystem by compressing or otherwise optimizing the information prior totransmission by the remote communications module 310. In someembodiments, certain portions of the transformation may be performed bythe remote communications module 310 and/or the UAV communicationsmodule 220 and/or the beacon control system 210. The transformation ofthe commands may be performed by mapping at least one command receivedby the remote communications module 310 from the remote operator to atleast one command compatible with the UAV 10. In some embodiments, thetransformation involves multiple commands being mapped onto a singlecompatible command, or a single command being mapped onto multiplecompatible commands.

The UAV communication module 220 is capable of utilizing a variety ofinterfaces so that the beacon 300 can transmit the commands received bythe remote communications module 310 to the UAV 10. In one embodiment,the UAV communication module 220 utilizes the proximity of the beacon300 to overpower the typical communications between the UAV 10 and theoperator. More specifically, this embodiment of the beacon 300 willutilize the same frequencies and protocols the UAV 10 typically receivesfrom the operator, but the commands will be transmitted by the beacon300, not the operator. Such a configuration is desirable when, forexample, an unknown UAV 10 is operating in a restricted airspace. Whenthe UAV 10 is identified as being a unmanned vehicle that should belanded, the remote communications module 310 receive commands foroverriding the operator's commands and for landing the UAV 10 in acontrolled manner. The beacon 300 then utilizes the UAV communicationsmodule 220 to transmit appropriate landing commands to the UAV 10 usingthe frequencies and protocols understood by the UAV 10. Due to theproximity of the beacon 300, however, the commands being transmitted bythe beacon 300 override any commands that may be transmitted by theoperator who is typically much further away and therefore transmitting amuch weaker signal to the UAV 10.

To illustrate these aspects of the beacon 300, the Vigilent ImmersiveSimulation Studio will be described in conjunction with the abovedescribed beacon 300. The Vigilent Immersive Simulation Studio employscurved screen displays that provide an immersive panoramic display ofthe current surroundings for the UAV 10, and control systems for theremote operator to direct the UAV 10. If, for example, a particular UAV10 is not equipped to provide an immersive panoramic display of thecurrent surroundings of the UAV 10, the beacon 300 may translate theavailable sensory information so that the Vigilent Immersive SimulationStudio can provide the needed immersive experience to the operatorwithout requiring reconfiguration of the Vigilent Immersive SimulationStudio itself. Alternatively, the beacon 300 may also translate thecommands provided by the Vigilent Immersive Simulation Studio so thatthe UAV 10 receives commands compatible with the remote operator controlsystem 12. It is of course possible that only certain commands from theremote operator control system 20 may be translated by the beacon 300prior to retransmission to the UAV 10, and that only certain sensoryinformation from the UAV 10 may be translated by the beacon 300 prior toretransmission to the remote operator control system 20.

The beacon 300 may also employ a set of criteria for determining whichwireless communications system to employ during a portion of a givenflight plan. For example, the beacon 300 may first rely on a Wi-Finetwork until the reliability or the bandwidth available over the Wi-Finetwork becomes unacceptable. The beacon 300 may then rely on a cellularnetwork until the reliability or the bandwidth available over thecellular network becomes unacceptable, at which point the beacon 300 mayrely on a satellite network or FirstNet. The beacon 300 may alsoconsider other factors such as cost, latency, or resistance tointerception when determining which wireless communications system toutilize. In some embodiments, the remote operator may specify theparticular wireless communications system to be utilized during portionsof a given flight plan.

To provide a concrete example of this aspect of the beacon 300, considera UAV 10 with a flight plan where the remote operator may communicatewith the UAV 10 through the beacon 300 using Wi-Fi due to the relativelyproximity of the remote operator and the UAV 10. For a second portion ofthe flight plan, the UAV 10 will have traveled sufficiently far from theremote operator that another wireless communications system is needed.At this stage, the beacon 300 may utilize a cellular phone network tocommunicate with the remote operator. At a third portion of the flightplan, the UAV 10 is approaching an area with limited cellular coverageso the beacon 300 may utilize a satellite network to communicate withthe remote operator. As the UAV 10 returns to the remote operator, thebeacon 300 may switch back to different types of wireless communicationssystems based on predetermined criteria.

By including such a beacon 300, each UAV 10 need not include all thecomponents and logic for determining the appropriate wirelesscommunications system to utilize during the flight plan. Rather, thebeacon 300 may be utilized so that changes in the availability ofcertain wireless communications systems need not affect the componentsor the logic contained in a particular UAV 10.

The beacon 300 may also operate as a translator between multipledifferent types of control systems for operating a single UAV 10. Remoteoperators may already have a particular control system 20 available thatis suitable for use with a UAV 10, where the particular control systemis not designed to operate with the UAV 10. In other circumstances, aparticular control system 20 is more desirable than another controlssystem due to the available controls, displays, level of operatorcomfort, and other factors. Similar to the mapping described above, thebeacon 300 may be configured so that the beacon control system 210includes multiple mappings for particular remote operator controlsystems 20 available to a particular remote operator and the commandsavailable for a particular UAV 10. The remote operator then chooses thecontrol system 20 to be used and associates the control system 20 withthe beacon 300. The beacon control system 210 then handles thetranslation of commands and information to and from the UAV 10 and theremote operator control system 20. In at least some embodiments, thebeacon 300 performs the translation in a manner where neither the UAV 10nor the control system 20 utilized by the remote operator requiresmodification to perform their desired tasks. In certain embodiments, thebeacon 300 may automatically determine the appropriate mapping for aparticular control system 20 utilized by the remote operator based onthe transmissions and/or commands received by the remote communicationsmodule 310. In these embodiments, the remote operator could, forexample, utilize a first control system 20 during a first portion of aflight plan, and then utilize a second control system 20 during a secondportion of a flight plan. In such a scenario, the beacon 300 wouldrecognize transmissions from the second control system 20 andautomatically utilize the mapping appropriate for the second controlsystem 20 so that the UAV 10 remains under control of the remoteoperator. Such a beacon 300 would also be suitable for when a firstcontrol system 20 becomes inoperable and the remote operator must thenuse a second control system 20 to control the UAV 10.

From the above description, it is evident the above described embodimentaddresses the technical problem of known UAVs 10 where the UAV 10requires specific communications equipment so that the operator maycontrol the UAV 10. The above described embodiment addresses thistechnical problem by providing a technical solution that allows for theoperator and the UAV 10 to use a uniform communications interface thatcan operate on any available wireless interface so that contact with theUAV 10 is maintained throughout its operation. The above describedembodiment also provides a mechanism by which the controls for a UAV 10may be overridden when necessary. Additionally, this embodiment of thebeacon 100 may also include aspects of the first embodiment describedabove, and may also provide technical solutions for the technicalproblems described above.

Third Embodiment of the Vigilent Positioning System

In another embodiment, the beacon 400 acts in a manner similar to anaircraft transponder by broadcasting a response to a radio-frequencyinterrogation signal. Like aircraft transponders, this embodiment of thebeacon 400 is useful for identifying a UAV 10 on air traffic controlradars and for avoiding collisions with other aircraft. In at least oneembodiment, transponder codes like those used by conventional aircrafttransponders are employed by the beacon 400 so that the UAV 10 may beeasily identified on air traffic control radars without requiring themodification of existing systems. Such a beacon 400 would, for example,be in compliance with the requirements of established systems such asthe Airborne Collision Avoidance System (ACAS II) or other types ofground collision avoidance technology that operates independently ofground-based equipment and air traffic control. Certain embodiments ofthe beacon 400 may also comply with the Automatic DependentSurveillance-Broadcast (ADS-B) standard being employed in the NextGeneration Air Transportation System being deployed in the UnitedStates, for example.

Certain embodiments of the beacon 400 may also periodically emit smallsignal bursts comprising pulse sequences or other patterns to indicatethat the vehicle onto which the beacon 400 is attached is a UAV 10.These signal bursts are emitted by the transponder module 410, shownwith other aspects of the beacon 400 in FIG. 6. By including thetransponder module 410, the detectability of UAVs 10 equipped with thebeacon 400 is ensured even if the UAV 10 has a small radar signature orreturn. Instead of relying on the ability of their radar or othersystems to directly detect the UAV 10, air traffic controllers or otherinterested parties may rely on the small signal bursts to determine thepresence and the location of the UAV 10. The pulse sequences or otherpatterns may be transmitted along the same frequencies as currentaircraft transponders, or may be transmitted along other frequenciesthat are also easily detected by existing radars and other air trafficcontrol equipment. The pulse sequences or other patterns may beoptimized to minimize power consumption, maximize range, minimizeinterference, or other desirable attributes. These pulse sequences orother patterns are also in compliance with the air traffic controlstandard which the embodiments of the beacon 400 are in compliance with,if any. In some embodiments, the small signal bursts transmitted by thebeacon 400 are also detectable by other vehicles in nearby airspace.

In at least some embodiments, the pulse sequences or other patternsbeing employed are unique to UAVs 10. In these embodiments, the pulsesequences or patterns emitted by the transponder module 410 may berecognized by a human operator, by appropriately configured equipment,or both. Such a unique pulse sequence or pattern facilitates rapididentification of UAVs 10 which is desirable in situations where otherair traffic is traveling through the area. In certain embodiments, thepulse sequences or patterns may incorporate a first portion thatindicates the transmission is originating at a UAV 10, and thenadditional portions that provide other types of information. The pulsesequences or other patterns of the first portion of a signal may alsoinclude information in addition to the distinctive pulse sequences orpatterns associated with UAVs. In some embodiments, the additionalinformation included with the small signal burst may be encoded orencrypted so that only appropriately configured equipment can decode ordecrypt the additional information. The additional information mayinclude, for example, information identifying the owner and/or operator,information associated with any government or other registration of theUAV 10, or other types of information which may be useful for thosetasked with managing airspace. In some embodiments, the beacon 400 maytransmit real-time information using the pulse sequences or otherpatterns. For example, the small signal bursts may include altitude,velocity, heading, and other information that describe the currentflight plan for the UAV 10. In some embodiments, other information suchas the current power status of the UAV 10, the operating status ofvarious components of the UAV 10, and other information may betransmitted by the small signal bursts.

In certain situations, embodiments of the beacon 400 may transmit asignal that is detectable by satellites or communications systems otherthan air traffic control systems. For example, these embodiments maytransmit information to existing aeronautical satellite communicationssystems using the ACARS communication protocol. Other alternativesinclude Satellite L Band frequency (Outerlink network) for Trackingacross North America ((US/Canada) with the ability of the beacon 400 toalso use other Satellite bands for tracking, including but not limitedto NANO Low Earth Orbiting satellites. Such a capability is desirablewhen the UAV 10 travels beyond the range of the wireless communicationssystems being employed. To accommodate such a switch of wirelesscommunications systems, embodiments of the beacon 400 may include thecapability to communicate with multiple communications networks usingmultiple communications protocols. In certain embodiments, the beacon400 may apportion certain types of information for transmission througha first wireless communications system and transmit the remaininginformation through a second wireless communications system. Such aconfiguration would allow, for example, information regarding thevelocity, heading, and other information for the UAV 10 to betransmitted in a manner that air traffic control systems can receive andprocess, while other information such as the operating status of variouscomponents is transmitted in a manner that satellite communicationssystems can receive and process. In addition to offering redundancy,possible benefits of such a configuration including allowing for airtraffic control systems to process information most relevant for theirpurposes while allowing for other types of information to be transmittedthrough a different wireless communications system, and minimizing thenumber of modifications necessary for commonly-installed equipment.

For example, in compliance with ADS-B Out which is a service that ispart of the ADS-B standard, the beacon 400 may use the transpondermodule 410 to periodically broadcast identification, the currentposition, altitude, and velocity of the UAV 10 to which the beacon 400is attached. A beacon 400 that is in compliance with this standard willalso include the needed components such as a datalink radio. Whenappropriate, embodiments of the beacon 400 may implement the neededcomponents using other existing components of the beacon 400 so thathardware costs and power consumption are minimized. This informationprovides air traffic controllers real-time position information that attimes is more precise than radar-based systems. Such real-time positioninformation may be provided at least by the position informationobtained from an approved ADS-B position source. In some embodiments,this information may be supplemented by additional data so that moreprecise position information may be obtained. In accordance with theADS-B standard, the beacon 400 may communicate with either surface-basedstations or space-based satellites. By operating within the ADS-Bstandard, other aircraft in the airspace with equipment in compliancewith ADS-B In, another part of the ADS-B standard, can receiveinformation transmitted by the beacon 400 in compliance with ADS-B Outso that collision avoidance independent of air traffic control ispossible. Certain embodiments of the beacon 400 may implement both ADS-BOut and ADS-B In standards so that information being transmitted byother aircraft in the vicinity may be utilized. Embodiments employingboth standards may forward relevant information transmitted by otheraircraft so their operators have an improved understanding of thevehicles in the airspace surrounding the UAV 10. The forwarded relevantinformation may include the real-time position information of the othervehicles operating in the airspace, for example.

Additional Embodiments of the Vigilent Positioning System

Variations of the embodiments described about are also contemplated. Forinstance, rather than radio frequency wireless communications, thebeacons 100, 200, 300, 400 may use one or more LED lights (e.g.,infrared, green and blue for instance, optionally selected to matchwavelength filters on the receiving devices) or other light sources thatcan be driven to flash encoded information using TDMA, FDMA, CDMA orother modulation technics. The light sources can be mounted to thebeacon 200, 300, 400 at locations that permit viewing from appropriateangles (e.g., on the bottom for land-based detection, on the top foraerial detection and on the side edges for both, perhaps with redundantlight sources that transmit the information simultaneously or in amultiplexed format). The light sources can be driven through the UAVcommunications module 220 and/or remote communications module 310. Thesecan be seen from a distance and if encoded using simple, low rate encode(e.g., Morse Code), can be deciphered by human eye, but more practicalimplementations would involve an electronic receiver such as a videocamera, photo-detector or other light receiver that can convert thelight signal into an electrical signal for decoding and processing. Highfunctions systems such as disclosed, e.g., in Hennes Henniger andBernhard Epple, “Free-space optical transmission improves land-mobilecommunications,” Optoelectronics & Communications, 9 Jan. 2009, SPIENewsroom. (DOI: 10.1117/2.1200612.0459)(herein incorporated byreference), would facilitate fast, high volume data communications,which would help mitigate optical interferences and improve accuracy.This encoded information can include the information indicated above,such as navigational direction; registration and/or Identificationnumber (or other forms of identification) or sequence which can tie intothe VPS NATIONAL PUBLIC SAFETY REGISTRY to define OEM Make, Model,Serial Number, Legal Owner and Current Contact Data for the Legal Ownerand any other permissible and legally mandated user information. The VPSRegistry may enable interoperability and integration with any FAA, NASA,DOD, DHS, FBI and/or other public safety networks or communicationsystems.

Further, optical bi-directional communication from the ground to decodeand establish the VPS registration and identification using laser orother optical instruments is contemplated. For instance, simple photodiodes, video cameras (e.g., mobile telephone type cameras) and otherlight receiving components on the beacon 100, 200, 300, 400 may pick uplight signals from the ground, particularly if targeted on the beaconsuch as by using laser (coherent) light ground based sources. One typeof device capable of fast and efficient free-field optical transmission,such as might be the ground-based components and mobile-based componentsof U.S. Pat. No. 9,240,841 issued on Jan. 19, 2016 entitled “Method andSystem for Free-Field Optical Transmission by Means of Laser Signals”(herein incorporated by reference), as one example. The mobile basedcomponents thereof could be modified to be less targeted than disclosedin this patent, and even omnidirectional, if the ground based lightreceived is an optical system that would also target the UAV 10, meaningthat the uplink might preferably be laser-based for targetedtransmission but the down link does not necessarily have to target theground-based components. Of course, other implementations of opticaltransmission mechanisms are contemplated herein.

The beacon mounted photodiodes, cameras or other imaging means couldalso detect buoys or other types of markers for navigation and locationidentification (e.g., building lights for air traffic could be used todefine a flight path and/or give a location and/or identify an entityresident near the buoy).

Additionally, the beacon 200, 300, 400 can be electronically connected(wired or wirelessly) to any existing or mounted sensors on the UAV 10such that the communication of sensor data can be through the UAVcommunications module 220 and/or remote communications module 310. Thatis, communications from the UAV communications module 220 can be routedthrough the remote communications module 310, or the remotecommunications module 310 can receive signals for transmission directlyfrom the beacon control system 210, for instance. The beacon controlsystem 210 can control which of the UAV communications module 220 and/orremote communications module 310 transmit, including whether eachtransmits data, according to signal Quality measures (e.g., by comparingbit error rates of signals in the various communications paths as oneexample of a known technique) and/or environmental conditions via thesensors of the sensory system 11. One or both of the communicationsmodules 220, 310 can communicate with other similarly enabled UAVs 10through beacons 200, 300, 400 for transmission of data, such as thesensor data, through an ad hoc network formed by multiple beacons 200,300, 400 mounted on different UAVs 10. The beacons 200, 300, 400 alsoenable crowd sourcing of sensor data, such as disclosed in U.S. PatentApplication No. 2015/0163312 filed Dec. 5, 2014, entitled “System andServer for Analyzing and Integrating Data Collected by ElectronicDevice,” herein incorporated by reference.

CONCLUSION

From the above description, it is evident the above described embodimentaddresses the technical problem of known UAVs 10 where the UAV 10 isdifficult to detect due to its small size and radar signature. The abovedescribed embodiment addresses this technical problem by broadcastingsignals compatible with existing air traffic control radars and othersystems used to monitor airspace. Additionally, this embodiment of thebeacon 100 may also include aspects of the embodiments, described above,and may also provide technical solutions for the technical problemsdescribed above.

Although the invention is illustrated and described herein withreference to specific embodiments, the beacon is not intended to belimited to the details shown. Rather, various modifications may be madein the details within the scope and range equivalents of the claims andwithout departing from the invention.

What is claimed is:
 1. An apparatus attached to an unmanned aerialvehicle, the unmanned aerial vehicle including a control system, asensory system, and a communications module, the apparatus comprising:an attachment mechanism configured to securely and removably attach theapparatus to the unmanned aerial vehicle; a first indicia identifying anowner or responsible party; a second indicia identifying a particularunmanned aerial vehicle; wherein at least a portion of the first andsecond indicia together form a unique identifier associating the owneror responsible party with the particular unmanned aerial vehicle;wherein the attachment mechanism is only removable by an authorizedindividual; and wherein the unique identifier is readable by a detectorspaced away from the unmanned aerial vehicle.
 2. The apparatus of claim1, wherein information obtained by the sensory system is encoded, priorto transmission or storage for later retrieval, with the uniqueidentifier formed from the portions of the first and second indicia. 3.The apparatus of claim 1, wherein the unique identifier is readable bythe detector while the vehicle is in motion relative to the detector. 4.The apparatus of claim 1, further comprising a remote communicationsmodule that wirelessly transmits data.
 5. The apparatus of claim 4,wherein the communications module of the unmanned aerial vehicletransmits data through said apparatus.
 6. The apparatus of claim 1,further comprising a remote communications module that opticallytransmits data.
 7. The apparatus of claim 6, wherein the communicationsmodule of the unmanned aerial vehicle transmits data through saidapparatus.
 8. A beacon attached to an unmanned aerial vehicle, theunmanned aerial vehicle including a control system, a sensory system,and a communications system, the beacon comprising: an attachmentmechanism configured to securely and removably attach the apparatus tothe unmanned aerial vehicle; an unmanned aerial vehicle communicationsmodule configured to provide commands and transmit and receiveinformation to and from the unmanned aerial vehicle through the unmannedaerial vehicle communications system; a remote communications moduleconfigured to participate on at least one wireless communicationssystem, the remote communications module being configured to transmitand receive information across the at least one wireless communicationssystem to and from a remote operator; a beacon control system configuredto receive information and commands from the remote communicationsmodule and to transform the information and commands for compatibilitywith the unmanned aerial vehicle, the beacon control system furtherbeing configured to transmit the transformed information and commands tothe unmanned aerial vehicle through the unmanned aerial vehiclecommunications module; wherein the beacon control system is furtherconfigured to receive information from the unmanned aerial vehiclethrough the unmanned aerial vehicle communications module and totransform the information for transmission over the at least onecommunications system; and wherein the remote communications moduletransmits the transformed information to the remote operator.
 9. Thebeacon of claim 8, wherein the remote communications module switchesbetween wireless and optical communications systems during a flight planbased on a set of predetermined criteria.
 10. The beacon of claim 8,wherein the beacon control system transforms the commands received bythe remote communications module by mapping at least one of the receivedcommands to at least one command compatible with the unmanned aerialvehicle.
 11. The beacon of claim 8, wherein the beacon control systemdetermine an appropriate mapping and utilize the determined appropriatemapping so that compatible commands are transmitted to the unmannedaerial vehicle control system.
 12. The beacon of claim 8, wherein the atleast one communications system is an optical communications system. 13.The beacon of claim 8, wherein the optical communications systemincludes one or more LED lights.
 14. The beacon of claim 8, wherein theat least one communications system can form an ad hoc network withbeacons attached to an unmanned aerial vehicles.